Add XML/YAML launch file equivalents to Tf2 tutorials (#6031)

Signed-off-by: Luke Sy <[email protected]>
(cherry picked from commit 81786ba)

# Conflicts:
#	source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst
#	source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.rst
#	source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst
#	source/Tutorials/Intermediate/Tf2/Learning-About-Tf2-And-Time-Cpp.rst
#	source/Tutorials/Intermediate/Tf2/Time-Travel-With-Tf2-Cpp.rst
#	source/Tutorials/Intermediate/Tf2/Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter.rst
#	source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst
#	source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Py.rst
#	source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Cpp.rst
#	source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Py.rst

Author: lsy3

source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst

@@ -184,18 +184,52 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Now let's create a launch file for this example.
+<<<<<<< HEAD
 With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo.launch.py`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
+=======
+With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
-.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
 
 This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
 
 The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
 
-.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
-    :lines: 14-18
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+        :lines: 14-18
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+        :lines: 3-4
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
+        :lines: 6-9
 
 1.4 Build
 ~~~~~~~~~
@@ -277,7 +311,11 @@ Now you can start the turtle broadcaster demo:
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo.launch.py
+=======
+    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 You should notice that the new ``carrot1`` frame appeared in the transformation tree.
 
@@ -292,7 +330,11 @@ One way is to pass the ``target_frame`` argument to the launch file directly fro
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo.launch.py target_frame:=carrot1
+=======
+    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 The second way is to update the launch file.
 To do so, open the ``turtle_tf2_fixed_frame_demo.launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -446,10 +488,28 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
 2.3 Write the launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
+<<<<<<< HEAD
 To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo.launch.py`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
+=======
+To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
 
-.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
-    :language: python
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.yaml
+        :language: yaml
 
 
 2.4 Build
@@ -532,7 +592,11 @@ Now you can start the dynamic frame demo:
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo.launch.py
+=======
+    $ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 You should see that the second turtle is following the carrot's position that is constantly changing.
 

source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.rst

@@ -160,19 +160,53 @@ Add the following line between the ``'console_scripts':`` brackets:
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Now let's create a launch file for this example.
+<<<<<<< HEAD
 With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo.launch.py`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
+=======
+With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
-.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
-    :name: turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
+        :name: turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
 
 This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
 
 The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
 
-.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
-    :lines: 14-18
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+        :lines: 14-18
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+        :lines: 3-4
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
+        :lines: 6-9
 
 1.4 Build
 ~~~~~~~~~
@@ -254,7 +288,11 @@ Now you can start the turtle broadcaster demo:
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo.launch.py
+=======
+    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 You should notice that the new ``carrot1`` frame appeared in the transformation tree.
 
@@ -269,7 +307,11 @@ One way is to pass the ``target_frame`` argument to the launch file directly fro
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo.launch.py target_frame:=carrot1
+=======
+    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 The second way is to update the launch file.
 To do so, open the ``turtle_tf2_fixed_frame_demo.launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -400,10 +442,28 @@ Add the following line between the ``'console_scripts':`` brackets:
 2.3 Write the launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
+<<<<<<< HEAD
 To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo.launch.py`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
+=======
+To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
+        :name: turtle_tf2_dynamic_frame_demo_launch.py
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
 
-.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
-    :name: turtle_tf2_dynamic_frame_demo_launch.py
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.yaml
+        :language: yaml
 
 
 2.4 Build
@@ -487,7 +547,11 @@ Now you can start the dynamic frame demo:
 
 .. code-block:: console
 
+<<<<<<< HEAD
     $ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo.launch.py
+=======
+    $ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 You should see that the second turtle is following the carrot's position that is constantly changing.
 

source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst

@@ -72,18 +72,56 @@ to
    } catch (tf2::TransformException & ex) {
 
 And save changes to the file.
+<<<<<<< HEAD
 In order to run this demo, we need to create a launch file ``start_tf2_debug_demo.launch.py`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
+=======
+In order to run this demo, we need to create a launch file ``start_tf2_debug_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
-.. literalinclude:: launch/start_tf2_debug_demo_launch.py
-   :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.yaml
+        :language: yaml
 
 Don't forget to add the ``turtle_tf2_listener_debug`` executable to the ``CMakeLists.txt`` and build the package.
 
 Now let's run it to see what happens:
 
-.. code-block:: console
+.. tabs::
 
+<<<<<<< HEAD
    $ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
+=======
+  .. group-tab:: XML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
+
+  .. group-tab:: Python
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 You will now see that the turtlesim came up.
 At the same time, if you run the ``turtle_teleop_key`` in another terminal window, you can use the arrow keys to drive the ``turtle1`` around.
@@ -156,13 +194,45 @@ To fix this bug, just replace ``turtle3`` with ``turtle2`` in line 67.
 
 And now stop the running demo, build it, and run it again:
 
-.. code-block:: console
+.. tabs::
 
+<<<<<<< HEAD
    $ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
    [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
    transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
    time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
    transform from frame [turtle1] to frame [turtle2]
+=======
+  .. group-tab:: XML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
+
+  .. group-tab:: Python
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 And right away we run into the next problem.
 
@@ -205,9 +275,29 @@ In the new code we are asking for the transform between the turtles 100 millisec
 It is usual to use a longer periods, just to make sure that the transform will arrive.
 Stop the demo, build and run:
 
-.. code-block:: console
+.. tabs::
 
+<<<<<<< HEAD
    $ ros2 launch learning_tf2_cpp start_tf2_debug_demo.launch.py
+=======
+  .. group-tab:: XML
+
+    .. code-block:: console
+
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.xml
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.yaml
+
+  .. group-tab:: Python
+
+    .. code-block:: console
+
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.py
+>>>>>>> 81786ba (Add XML/YAML launch file equivalents to Tf2 tutorials (#6031))
 
 And you should finally see the turtle move!